It depends on your definition of "poverty".
If you have an absolute standard in mind ("Daily income more than $10/day in inflation adjusted dollars") then absolutely, yes. Worldwide incomes are rapidly rising including among the poorest of the poor.
If you mean" people in the bottom 10% of the income distribution" , then by definition no. I don't see a way to have all people earn the same amount, at least not with real humans on the real Earth. Maybe in the 23rd century with free energy and replicators but that's far enough from reality as to be irrelevant.
I agree that in general income levels are rising. But the most important thing to remember here is that it is the income levels of the lowest tier, which is rising at the fastest rate. You can check the levels of extreme poverty around the world. Countries such as China has managed to eradicate extreme poverty and it is no mean achievement. Even in third world nations such as India, those who are living in extreme poverty has decreased by 80% or more during the last two decades. Now extreme poverty is mostly limited to certain geographies, such as Sub-Saharan Africa and Haiti.
The developments that being acquired by those mentioned countries gives them the opportunities to increase thier economy.
extreme poverty though still exist from those places mostly in africa, as the government who rule this place needs to work out and try
to immitate those countries who made a good success.
Poverty still being felt, there are still places who needscertain lift from the help of the government.